Offline Datasets.
In the real world, we use the Bridge Dataset [1]} which consists of 11,980 demonstration trajectories in 10 different environments with a variety of objects.
Note that this dataset was not collected or designed specifically for our method, but is sourced directly from prior work (where it was used for imitation learning).
In simulation, the offline data consists of 12,000 trials in 6 scenes, which differ in terms of object texture and camera pose.
